Unmanned aerial vehicle

ABSTRACT

An unmanned aerial vehicle (UAV) adapted for transit in and deployment from a projectile casing is provided. The UAV includes a wing assembly coupled to the projectile casing and the wing assembly moveable between a closed position and a deployed position. The UAV further includes a propulsion system including at least one rotor disposed on the wing assembly to generate lift, wherein in the closed position, the wing assembly is substantially integral with the projectile casing and in the deployed position, the wing assembly is extended outwards from the projectile casing.

The present invention generally relates to an unmanned aerial vehicle(UAV).

BACKGROUND OF INVENTION

Modern warfare often involves operatives working in close confines withcivilians, civilian targets and friendly personnel. As stray engagementsoften have very serious consequences, including civilian casualtiesand/or collateral damage, it is desirable only to engage with enemytargets and personnel.

In modern warfare, it is well recognised that an effort is usually madeto concentrate the greatest number of munitions on to a desired target,and any improvements in the probability of the munitions engaging withthat target are readily sought. Present day munitions, in particularsmall arms grenade munitions, have a significant drawback where in orderto accurately reach the target, operatives generally require a directline of sight. Further, operatives must estimate the parabolictrajectory, allowing for differences in distance, altitude, atmosphericconditions, the velocity of the projectile, and other factors. Thismakes it difficult for operatives to survey or defeat enemy targets indefilade positions or behind cover, such as an intervening crest of ahill, or behind trees. This often results in grenade munitions beingused for suppression allowing operatives to move up on targets andengage with more accurate weapon systems, for example, assault rifles.

Another disadvantage of these munitions is they are generally onlycapable of following a substantially parabolic trajectory, with thetrajectory of the projectile unable to be altered once fired.

It would be desirable to provide a UAV which ameliorates or at leastalleviates one or more of the above problems or to provide analternative.

It would also be desirable to provide a UAV that ameliorates orovercomes one or more disadvantages or inconvenience of known small armsgrenade munitions.

A reference herein to a patent document or other matter which is givenas prior art is not to be taken as an admission or a suggestion that thedocument or matter was known or that the information it contains waspart of the common general knowledge as at the priority date of any ofthe claims.

SUMMARY OF INVENTION

According an aspect of the present invention, there is provided anunmanned aerial vehicle (UAV) adapted for transit in and deployment froma projectile casing, comprising: a wing assembly, the wing assemblycoupled to the projectile casing, the wing assembly moveable between aclosed position and a deployed position; and a propulsion systemincluding at least one rotor disposed on the wing assembly to generatelift, wherein: in the closed position, the wing assembly issubstantially integral with the projectile casing and in the deployedposition, the wing assembly is extended outwards from the projectilecasing.

In one or more embodiments, the wing assembly in the closed position maybe substantially integral with the projectile casing to effectaerodynamic flight when the projectile casing is projected into anairborne trajectory. The outer surface of the wing assembly may formpart of the projectile casing outer surface in the closed position.Advantageously, this may provide protection for the internal componentsduring storage, transit and ground handling. Additionally, in thisparticular form of the invention, the wing assembly may also providepart of a substantially uninterrupted aerodynamic surface of theprojectile casing.

In one or more embodiments, the wing assembly is coupled to theprojectile casing via a hinge. The hinge may include a pin associatedwith a mounting flange. The hinge may be configured to pivot about anaxis transverse to the movement of the wing assembly between the closedposition and the deployed position.

In one or more embodiments, the wing assembly may include a springreturn means used to bias the wing assembly towards the closed position.The wing assembly may be configured for coupling to the projectilecasing so as to maintain a portion of the wing assembly in tension whenaccelerating along the trajectory. Coupling may be provided by a lockingring, thin frangible synthetic plastic membrane, resilient retentionclips, friction, or the like. Advantageously, providing a mechanism forreturning the wing assembly towards the closed position may eliminatethe wing assembly from opening during transit and ground handling,smooth return travel may also be assured. Additionally or alternatively,the spring return means may be provided by virtue of the resiliency ofthe material used to form the wing assembly, for example, a resilientthermoplastic material or carbon fibre composite sufficiently flexibleto interchange between the closed and deployed positions.

In one or more embodiments, the UAV may further comprise an actuatormechanically connected between the projectile casing and a portion ofthe wing assembly used to extend the wing assembly towards the deployedposition. Advantageously, an actuator may provide a force to urge wingassembly towards the deployed position.

In one or more embodiments, the wing assembly is biased towards theclosed position by way of gravity. The wing assembly may be configuredto extend to the deployed position after passage through the apogee ofthe trajectory. Advantageously, biasing the wing assembly by way ofgravity may provide an assembly of simplified construction, so thatdestroying the UAV is cost justified.

In one or more embodiments, the UAV may further comprise an inertialmeasurement unit (IMU); and a controller, configured to: estimate theUAVs trajectory; and provide signals to an actuation means allowing formovement between the closed position and the deployed position afterpassage through the apogee of the trajectory. Advantageously, an IMU mayprovide a more accurate position output indicative of the position ofthe UAV when accelerating along an axis, and allow for configurabledeployment of the wing assembly.

The wing assembly may include one or more arms. The one or more arms ofthe wing assembly may further comprise a propulsion system including atleast one rotor disposed to generate lift. Advantageously, providing oneor more arms may provide helicopter, tricopter, and quadcopter, etc.configurations.

In one or more embodiments, the rotor may comprise a plurality of bladesmounted to pivot outwardly under centrifugal force as the rotor rotates.Advantageously, in this embodiment, the blades occupy a smallerfootprint when in the closed position, this may simplify the design andassembly of the UAV and may further increase room for payloads.

The propulsion system may include a plurality of individuallycontrollable rotors, and by adjustment of the angular velocities of eachrotor provide adjustment of lift and torque to support stable flight.

In one or more embodiments, the projectile casing is substantiallyhollow and has an interior void provided with means to accommodate apayload. The payload may include at least one of an explosive, anincendiary, a smoke charge, an incapacitating agent and an illuminationcomposition. In a particular form of the invention, configurable lethaland nonlethal payloads may be supported. Nonlethal offensive approachesmay be activated by applying a shock to enemy targets or byadministering an incapacitating agent or tranquilizing gas. Furtheroffensive functions may include, administering electric or acousticshock, administering clouds of fine graphite or the like over electricalcomponents to disrupt power, and providing electromagnetic pulse (EMP)shockwaves.

In one or more embodiments, the projectile casing may comprise acartridge removably coupled to the projectile casing. The cartridge maybe hollow and have an interior provided with means to accommodate apropelling charge. Providing a removable cartridge may allow forconfigurable propelling charges, for example, blanks, or high and lowvelocity charges. Additionally, providing a removable cartridge mayallow for hand launching scenarios where an operative does not want togive away their position due to the report of the grenade launcherfiring.

In one or more embodiments, the projectile casing is of generally rightcircular cylindrical shape. The projectile casing diameter may beapproximately 40 mm. Advantageously, in this embodiment, the projectilecasing may be loaded as a normal round in a grenade launcher, such as anM203 single-shot 40 mm under-barrel grenade launcher, or launched byhand. Additionally, the UAV may be launched by unspecialised operatives,and may thus reach a target area very quickly without using its ownpower. The UAV may also be carried in standard webbing, for example 40mm grenade chest webbing.

According another aspect of the present invention, there is provided amethod of launching an unmanned aerial vehicle (UAV) adapted for transitin and deployment from a projectile casing, comprising: providing theUAV as outlined above, in a launch tube; applying pressurized gases to aback end of the UAV, driving the UAV forward in the launch tube into asubstantially parabolic trajectory; and transitioning to an autonomousloiter phase of flight after passage through the apogee of thetrajectory.

In one or more embodiments, after transitioning to an autonomous loiterphase of flight after passage through the apogee of the trajectory, theUAV may depart from the trajectory. Advantageously, an operative may“break” from the substantially parabolic ballistic trajectory ofconventional small arms systems, dynamically allowing for differences indistance, altitude, atmospheric conditions, the velocity of theprojectile, and other factors.

In one or more embodiments, an operative may guide the UAV to a target.Advantageously, operatives may selectively engage with targets andidentify, for example, soft spots in armour. Operatives may also guide aplurality of UAVs with explosive payloads to targets incrementally.

In one or more embodiments, the launch tube comprises a 40-mm grenadelauncher. Advantageously, in this embodiment, the UAV may be loaded as anormal round in a grenade launcher, such as an M203 single-shot 40 mmunder-barrel grenade launcher.

According to another aspect of the present invention, there is provideda target guidance system comprising a lunch tube, two or more unmannedaerial vehicles (UAVs) each adapted for transit in and deployment from aprojectile casing, and a controller configured to communicate betweentwo or more UAVs.

In one or more embodiments, the controller is capable of relayingspatial and temporal data between two or more UAVs. This may includecommunicating with a nearby UAV to determine which one moves or whetherboth should move to avoid a collision via a mesh network, or the like.

In one or more embodiments, two or more UAVs are configured with aswarming feature which aggregates two or more UAVs together autonomouslyor by manual input from an operator by a ground station to the target.Advantageously, swarming may be used to overwhelm or saturate thedefences of the target.

Two or more UAVs are further configured to steer in a space over atarget in a cooperative swarm. Such cooperative swarm functions areadvantaged as operatives have the ability to stop the offensivefunctions, unlike traditional guided munitions or grenades which operatecontinuously. This feature allows an operative to change direction andtake time to engage with targets particularly dynamic targets. Moreover,the constant changes in the modern battlefield, particularly whereoperatives are working in close confines with civilians, civiliantargets and friendly personnel, providing a continuously adaptationprovides a further advantage.

BRIEF DESCRIPTION OF DRAWINGS

The invention will now be described in further detail by reference tothe accompanying drawings. It is to be understood that the particularityof the drawings does not superseded the generality of the precedingdescription of the invention.

FIG. 1 shows a UAV in a closed configuration;

FIG. 2 shows a UAV in a deployed configuration, in which the wingassembly is in an extended state;

FIG. 3 shows a section through the UAV in a closed configuration, inwhich a payload is shown;

FIG. 4 shows a UAV midway through a deployed configuration, in which thewing assembly is approaching an extended state;

FIG. 5 shows a flight scenario of a UAV adapted according to anexemplary embodiment of the invention; and

FIG. 6 shows a plurality of UAVs operating in a target area, and aswarming pattern according to an exemplary embodiment of the invention.

DETAILED DESCRIPTION

The invention is suitable for deployment from a projectile casing andlaunched by a grenade launcher, and it will be convenient to describethe invention in relation to that exemplary, but non-limiting,application.

Referring firstly to FIG. 1, there is shown a side view of an exemplaryembodiment of a UAV 100 in a closed position. The UAV 100 includes aprojectile casing 105 and a wing assembly 110, mechanically connected asshown, with a removable cartridge 160, shown as removed from UAV 100. Inthe closed position, wing assembly 110 is substantially integral withprojectile casing 105 to effect aerodynamic flight along axis 115 whenthe UAV 100 is thrown or projected into a trajectory.

According to the embodiment shown, wing assembly 110 may comprise fourrotor arms: a first rotor arm 120; a second rotor arm 125; a third rotorarm 130; and, a fourth rotor arm 135. Wing assembly 110 is mechanicallyconnected to projectile casing 105 via a hinge 140 and a mounting flange145 pivotally connected to the top of each of four rotor arms 120, 125,130 and 135 via a pin 147 or other similar retention means. Here,gravity biases rotor arms 120, 125, 130 and 135 towards the closedposition. In another embodiment, rotor arms 120, 125, 130 and 135, maybe attached to the side, or bottom of projectile casing 105, where adual torsion spring return means in the form of a coiled helical torsionspring, or similar may be used to bias rotor arms 120, 125, 130 and 135towards the closed and/or the deployed position. It will be appreciatedthat the spring return means may be provided by virtue of the resiliencyof the material used to form the rotor arm, for example, a resilientthermoplastic material or carbon fibre composite sufficiently flexibleto interchange between the closed and deployed positions. However, itwill also be appreciated that additional or alternative biasingmechanisms may be employed, such as a microelectronic actuator arrangedwithin projectile casing 105. The microelectronic actuator may provide aforce applied by a shaft member, by way of a rotatable drive screw,arranged within projectile casing 105 so as to extend in an axialdirection out from projectile casing 105 to urge wing assembly 110towards the deployed position.

Additionally or alternatively, a locking ring 170 may retain wingassembly 110 towards the closed position. In one embodiment, the lockingring 170 is provided by a segmentally annular ring selectivelyencircling the projectile casing 105 and each of the four rotor arms120, 125, 130 and 135. The locking ring 170 may be swivel fit to theprojectile casing 105 and retained by a rib receivable in a groove on anouter portion of the projectile casing 105. However, it will beappreciated that the provision of such a swivel fitting may bethreadably engaged with the projectile casing 105, or the like, andthose skilled in the art will recognize suitable designs for providingthe stated functions. The locking ring 170 is preferably formed of aridged material capable of retaining the rotor arms 120, 125, 130 and135 in association with the projectile casing against the substantialpressures involved in a launch from a launching tube. After the launch,the locking ring 170 may be actuated by a microelectronic actuatorarranged within projectile casing 105 during flight. However, in otherembodiments, for example before a hand launch, it may be desirable toactuate the locking ring 170 by hand by twisting it, or the like. Thelocking ring 170 may further include a projection on the ring that, forexample, engages and closes an electronic switch connected by suitableelectrical conductors to a power supply, which ultimately powers the UAV100.

In one or more embodiments, the locking ring 170 is provided by anannular ring selectively encircling the projectile casing 105 and eachof the four rotor arms 120, 125, 130 and 135. Here, the locking ring 170is a spring-loaded retractable locking ring slidably mounted on theprojectile casing 105. The locking ring 170 is biased to a referenceposition on the projectile casing 105 where it encircles each of thefour rotor arms 120, 125, 130 and 135 in its closed position and isretractable to a portion beyond the rotor arm ends in its open position.The projectile casing 105 may be provided with flanges that are spacedbelow the arm ends to function as a stop for the locking ring 170 tolimit its downward travel. Similarly, the projectile casing 105 may beprovided with flanges that are spaced above the arm ends to function asa stop for the locking ring 170 to limit its upward travel, and thoseskilled in the art will recognize suitable designs for providing thestated functions, for example, semi-circular mating flange segmentsformed in the projectile casing 105. The locking ring 170 may also beprovided with an additional spring compressed to exert a strong biasingforce on the locking ring 170 to normally maintain the locking ring 170in its open position. In this respect, in order to keep the rotor arms120, 125, 130 and 135 towards the closed position the additional springmay be held in its cocked or inoperative state by means of a fusiblealloy, at least until such time that an increase in the ambienttemperature causes the fusible alloy to melt and release the lockingring 170, which in turn effects snap-action release of the rotor arms120, 125, 130 and 135 in unison to simultaneously urge the wing assembly110 towards the deployed position. This arrangement is advantaged inthat it does not require a microelectronic actuator.

The wing assembly 110 and projectile casing 105 may also be covered in athin frangible synthetic plastic membrane or other suitable material(s)(not shown) to provide both a mechanical seal (protection for theinternal components during storage, transit and ground handling) andadditionally or alternatively bias rotor arms 120, 125, 130 and 135towards the closed position. The membrane is fragile enough to crack orbreak by hand, or with engagement with rifling in a launching tube. Themembrane may thus be prepared from and any suitable material having ayield to break point under such forces. However, it will also beappreciated that additional or alternative methods of coupling wingassembly 110 to projectile casing 105 can be used, such as those, butnot limited to including, resilient retention clips, or friction, so asto maintain a portion of the wing assembly 110 in tension whenaccelerating along the axis 115.

The UAV 100 can be loaded as a normal round in a grenade launcher, suchas an M203 single-shot 40 mm under-barrel grenade launcher, or launchedby hand. Advantageously, in this embodiment, UAV 100 can be launched byunspecialised operatives, and can thus reach a target area very quicklywithout using its own power. The UAV 100 may also be carried in standardwebbing, for example 40 mm grenade chest webbing. However, it will alsobe appreciated that additional launch systems can be used, such asthose, but not limited to including hand launching, pneumatic systems,flare and chaff dispensers, mortars, artillery cannons, submarine signallaunch tubes, deployed from aircraft, the like, or a combination ofthese systems, which may be particularly suitable for larger UAVs. It isto be understood that the projectile casing 105 may have any suitablediameter.

The UAV 100 is designed to withstand severe shock and deploymentenvironments. When viewed from the side, the projectile casing 105(incorporating the wing assembly 110 in the closed position) is of alargely conventional from factor, and those skilled in the art willrecognize suitable designs for providing the stated functions, forexample: a substantially hollow, one-piece aluminium body with drivingbands and bore riders, coupled to a substantially ogive-shaped nosecone. It will also be understood by those skilled in the art that wingassembly 110 and/or rotor arms 120, 125, 130 and 135 may alternativelybe made from any other suitable material (e.g. plastics, other metalsand composites).

Referring now to FIG. 2, there is shown a side view of the exemplaryembodiment of FIG. 1. However, the wing assembly 110 is in an extendedposition with hinge 140 shown to pivot about an axis transverse to themovement of the wing assembly 110 between the closed position and thedeployed position. Each of the first rotor arm 120, the second rotor arm125, the third rotor arm 130, and the fourth rotor arm 135 may beimplemented with a first rotor 220, a second rotor 225, a third rotor230, and a fourth rotor 235, respectively contributing to the propulsionsystem. A UAV provided with four rotors, such as UAV 200 shown anddescribed herein, may be referred to as a quadcopter. Although it is tobe understood that within the scope of this disclosure UAV 200 maycomprise any number of rotor arms and any number of blades. The UAV 200may therefore be a helicopter, tricopter, a quadcopter, etc.Furthermore, in other embodiments the rotor arms need not besymmetrically positioned relative to projectile casing 105, and thepropellers need not be symmetrically distributed on the rotor arms. Therotors, which may be commercially available off the shelf (COTS)components or the like, are mounted such that the rotor shaft cansupport a plurality of blades. The propulsion system for providing liftand consequently aerial movement of the UAV may be provided by knownpropulsion means, such as electric motors with a rotor.

Airborne motion of the UAV 200 may be controlled by rotation of rotorblades 250, 255, 250, and 255 and by adjustment of the angularvelocities of each rotor by known methods to provide adjustment of liftand torque to support stable flight of UAV 200, generally, via feedbackfrom an inertial measurement unit (IMU) and an altimeter module.

According to the embodiment shown, rotors 220, 225, 230 and 235 includea pair of blades 250, 255, 260 and 265 mounted to pivot outwardly undercentrifugal force as the rotor rotates. Advantageously, in thisembodiment, the blades occupy a smaller footprint when in the closedposition, thereby simplifying the design and assembly of UAV 200 andfurther increases room for payloads, as is best shown with reference toFIG. 3, particularly blade pair 250. Furthermore, blade pairs 250, 255,260, and 265, when in the overlapping state as shown, do not intervenewith projectile casing 105 during transition between the closed anddeployed positions. However, it will be appreciated that interveningblade pairs may provide an advantage when in transit, whereby the rotorarms may be contained in part by the blades against an inner surface 270of projectile casing 105.

The blade pairs 250, 255, 260, and 265, when deployed, are arranged in asubstantially rectangular configuration about the centre of projectilecasing 105 and centre of mass. In a particular embodiment, for example,the distance between the axis of rotation of opposing blade pairs 255and 265 may be about 180 millimetres (mm). Here, blade pairs 250, 255,260, and 265 are seen to rotate in a common plane below rotor arms 120,125, 130 and 135 to generate thrust in an upwards direction.Advantageously, as well as providing lift for UAV 200, this also forceswing assembly 110 towards the deployed position such that deploymentconfigurations without a mechanical biasing means are possible, forexample, when UAV 200 is held upside down, or reaches apogee where itstarts its downward descent along a projected path. The UAV 200 maystart its downward descent after the propulsive force from, for example,a grenade launcher is terminated and UAV 200 is acted upon only bygravity and aerodynamic drag. The remaining elements shown in FIG. 2 areidentical to FIG. 1 and so share the same references.

Referring now to FIG. 3, there is shown a section through the UAV 300 ofthe exemplary embodiment of FIG. 1, in which payload voids 305 and 310are shown. UAV 300 also includes a removable cartridge 315, mechanicallyconnected as shown with the bottom of projectile casing 320 via anintermediate screw 325, according to one embodiment. According toanother embodiment, projectile casing 320 is press fit into cartridge315, or maintained by threaded engagement in the bottom of theprojectile casing 320 periphery itself, such that it is removable by anoperative wanting to hand launch the UAV 300 (e.g., without a grenadelauncher). Advantageously, in this embodiment, UAV 300 can be launchedseveral times by refitting a new cartridge 315 to the bottom ofprojectile casing 320. Providing a removable cartridge 315 also allowsfor configurable propelling charges, for example, blanks, or high andlow velocity charges. Additionally, providing removable cartridge 315allows for hand launching scenarios where the operative does not want togive away their position due to the report of the grenade launcherfiring.

The cartridge 315 is a substantially hollow two-chambered 340 and 345cylinder incorporating a primer 335. The propellant cup 340 is sealed bythe primer 335, and contains a propelling charge (not shown). Thepropellant cup 340 acts as a high-pressure chamber, and the hollowcavity 345 in the cartridge 315 surrounding the cup 340 acts as alow-pressure chamber. As should be evident to those skilled in the art,this is typical of internal pressure chambers for high-low pressuresystems including those employed by the M118 cartridge case as part ofcommonly used small arms grenade munitions.

In one or more embodiments, the bottom payload void 305 includes anexplosive designed to inflict personnel casualties from a selectableair, ground or delayed burst effect, via an electronic fusing system,resulting in blast and fragmentation of the projectile casing 320.Additionally or alternatively, the bottom payload void 305 may include ashaped explosive charge. It will be appreciated that the shapedexplosive charge may further include the provision of a metal liner inthe payload void 305, formed of a dense, ductile metal, such as copper.Other materials may also be employed, for example, molybdenum andpseudo-alloys of tungsten filler and copper binder. The metal-liner maybe a hollow conical shape, with an internal apex angle of around 40 to90 degrees. Other shapes may also be employed, for example, ahemisphere, tulip, trumpet, ellipse, bi-conic, and the like, which maybe particularly suitable for not intervening with the blade pairs 250,255, 260 and 265. As explosive energy is released normal to the surfaceof the explosive, shaping the explosive concentrates the explosiveenergy in the payload void 305. Here, the enormous pressure generated bythe detonation of the explosive drives the liner in the payload void 305inward to collapse upon its central axis. Under ordinary practice thiscauses the formation and projection of a very high-velocity jet of metalparticles forward along the axis. Advantageously, the high-velocity jetof metal particles may penetrate armour plating on vehicles or otherprotected structures from a significant standoff distance.

However, it will also be appreciated that additional or alternativepayloads can be used, such as those, but not limited to including,incendiaries, smoke charges, incapacitating agents (e.g. CS gas),illumination compositions, the like, or a combination of these payloads.The top payload 310 is an electronic payload and includes at least oneinertial measurement unit (IMU) that provides acceleration data and/orangular velocity data, and an altimeter module that provides altitudedata of the UAV 300 to support stable flight, as discussed withreference to FIG. 2. The IMU and altimeter module is shown as a printedcircuit board (PCB) assembly 350. The PCB may further include othercomponents, such as a global positioning system (GPS) module, a powersupply, a signal processor, or ASIC, feedback electronics to resolve theposition of the rotor arms in flight, a communication module and anautopilot module. Preferably, the feedback system uses a mechanicalswitch or encoder to determine the position of each rotor arm. It shouldbe appreciated that control circuitry may be employed for receiving theacceleration data and/or angular velocity data, to also provide aposition output indicative of the position of UAV 300 when acceleratingalong axis 115. The control circuitry may employ a microcontroller orother circuitry for continuously monitoring the position of UAV 300 andcontrolling activation and deactivation of rotors 220, 225, 230 and 235by known methods. It will be appreciated that the control circuitry mayindependently control the UAV 300 to execute a flight scenario withoutongoing control from the operative.

In one or more embodiments, IMU 350 is operatively coupled to rotors 220(not shown), 225, 230 and 235 and configured to transition to anautonomous phase of flight after passage through apogee on asubstantially parabolic trajectory. In an alternative embodiment, anoperative can manually configure UAV 300 to an autonomous phase offlight via a mechanical switch, for example, as part of locking ring170, as discussed with reference to FIG. 1. The mechanical switch mayalso be provided to turn UAV 300 off so as to conserve power when not inuse. It should be appreciated that other switches may be employed toactivate the autonomous phase of flight, such as, but not limited to,altitude switches, magnetic switches, toggle switches, and pressuresensitive switches.

IMUs are prone to transient saturation, this may occur when, forexample, an accelerometer or gyroscope experiences a large,high-frequency, input acceleration or rotation beyond its dynamicoperating range, as may be the case during a grenade launch whichtypically relies on spin stabilisation to provide increased accuracyduring launch. In such cases, the control circuit's amplification cansaturate and cause signal distortions, which may unduly delay deploymentof rotor arms 120 (not shown), 125, 130 and 135 when passing throughapogee, as an accurate position output indicative of the position of UAV300 when accelerating along axis 115 will not be acquired. In otherembodiments, particularly those embodiments that do not rely on amechanical biasing means for the wing assembly, as the spin imparted onthe UAV is directed away from the axis of rotation, the rotor arms maybe forced outward, prematurely disrupting aerodynamic flight beforepassage through the apogee.

It is therefore desirable that a means for reducing the imparted spin onthe UAV 300 is provided. In one embodiment, projectile casing 320 may beprovided with a free rotating portion that engages the rifling in thegrenade launcher tube imparting spin on the free rotating portion,thereby reducing spin on the IMU. In another embodiment, projectilecasing 320 may be provided with a free rotating flared base that engagesthe rifling in the grenade launcher imparting spin on only the flaredbase. Other means of reducing spin are well known to those in the art,such as, for example fins and slipping obturators.

IMUs are also sensitive to vibration, for example, when exposed to rotorvibrations and sudden altitude changes, as may be the case during agrenade launch. Excessive vibrations compromise the IMUs ability tosupport stable flight, leading to poor performance, particularly inmodes that rely on accurate positioning (e.g. guided or loiteringmodes), but also may unduly delay deployment of rotor arms 120 (notshown), 125, 130 and 135 when passing through apogee, as an accurateposition output indicative of the position of UAV 300 when acceleratingalong axis 115 will not be acquired. To mitigate the effects ofvibration, the top payload 310 may include two IMUs: a first IMU thatprovides acceleration data and/or angular velocity data of the UAV 300to support stable flight, as discussed with reference to FIG. 2; and, asecond IMU that provides baseline rotor vibration data. Controlcircuitry, which may employ a microcontroller and firmware or othercircuitry, continuously monitors data from both IMUs where a filter isemployed to subtract the baseline rotor vibration data from theacceleration data and/or angular velocity data pertaining to the UAV 300itself. However, it should also be appreciated that additional oralternative filtering methods can be used, such as those, but notlimited to including, extended Kalman filters, evenly weighted movingaverage filters, the like, or a combination of these filters, which maybe particularly suitable for implementation in firmware. Mechanicalisolation of the rotors or sensitive components, including the IMUs, mayalso be provided, including resilient suspension means, or gel padsformed of slow response silicone or urethane foam, or the like.

In one or more embodiments, the top payload 310 includes an opticalsensor, which may be IR or visible range, to survey an area of interest,and communicate the images back to an operative. The communicationmodule, which is preferably a 900 MHz COTS module, may be any wirelesscommunication such as, for example, a software-defined radio module, toenable data transfer to the operative or between numerous UAVs. The datamay be encrypted or unencrypted. Although it is to be understood thatwithin the scope of this disclosure top payload 310 may comprise anexplosive and bottom payload 305 may comprise, for example, the IMU andcontrol circuitry.

The communications module may have one or more internal or externalantennas for enabling data transfer such as radio frequency signals. Inone embodiment, the antenna(s) may be patch antenna(s) arranged in rotorarms 120 (not shown), 125, 130 and 135. In another embodiment, theantenna may be a simple dipole antenna with a radiation pattern in adesired alignment with ground operatives.

In one or more embodiments, the top payload 310 includes an infraredillumination module (or beacon), to provide illumination of a target forinfrared seeking missiles, or to act as a decoy. As is known in the art,military vehicles may be provided with decoys which are used to drawvarious types of guided weapons away from the vehicles. In this respect,the UAV 300 is adapted to attract infrared or heat seeking guidedmissiles away from the deploying vehicle (i.e., the target).Advantageously, this may give the appearance of a moving infrared targetin the airspace in which the UAV 300 has been released and present amore attractive thermal target than the vehicle from which it isdeployed, thus decoying the weapon away from the vehicle. The remainingelements shown in FIG. 3 are identical to FIG. 2 and so share the samereferences.

Referring now to FIG. 4, there is shown a partial deployment of the UAV400 adapted according to an exemplary embodiment of the invention. Eachof the rotor arms 120, 125, 130 and 135 are deployed simultaneously. Theelements shown in FIG. 4 are identical to FIG. 2 and so share the samereferences.

The present invention provides a number of advantages and improvementsover prior art approaches to projectiles. More particularly, theprojectile provides a UAV that can be loaded as a normal round in agrenade launcher by unspecialised operatives, and can thus reach atarget area very quickly without using its own power during launch.Therefore, operatives may have more flexibility when engaging with enemytargets and personnel. Moreover, an operative may “break” from thesubstantially parabolic ballistic trajectory of conventional small armssystems, dynamically allowing for differences in distance, altitude,atmospheric conditions, the velocity of the projectile, and otherfactors. Operatives may also selectively engage with targets andidentify, for example, soft spots in armour. Operatives may also guide aplurality of UAVs with explosive payloads to targets incrementally. Asis known in the art, the synergetic effect of blast waves andfragmentation of munitions deployed in this way is larger than thearithmetic sum of the effect of separate blast waves and fragmentation.Further, operatives may be able to survey or defeat enemy targets indefilade positions or behind cover, allowing sufficient time for theoperative to verify that a target is an enemy target, or select an air,ground or delayed burst effect, via an electronic fusing system to bestengage with said target. Finally, it is a distinct advance of theprojectile that IMU saturation may be reduced.

Referring now to FIG. 5, there is shown a flight scenario of UAV 100launched from a grenade launcher 505, by an operative 565 at time zeroto according to an exemplary embodiment of the present invention. UAV100 is launched in a substantially parabolic ballistic trajectory 510over an intervening hill 540 at a target 530. The target is a trucktaking cover behind trees 555, and in a general target area 535. Generaltarget area 535 may be considered an effective kill zone radius.

In the absence of forward observer personnel, reconnaissance patrols, ora GPS coordinate for target 530, which may provide distance and bearinginformation over intervening hill 540, operative 565 does not have meansto provide distance and bearing information as there is no direct lineof sight. Accordingly, operative 565 must estimate the distance betweentarget area 535 and set bearing information. The “best guess” distanceand bearing information are used to launch UAV 100 at time zero t₀.Here, operative 565 does not know whether UAV 100 will accurately reachtarget area 535.

After the launch, UAV 100 travels along trajectory 510 in the closedstate, as best shown with reference to FIG. 1. In one or moreembodiments, when UAV 100 reaches apogee 515 and starts a downwarddescent along trajectory 510, UAV 100 moves between the closed positionand the deployed position, as is best shown with reference to 545 andwith further reference to FIG. 2. Here, UAV 100 is acted upon only bygravity and aerodynamic drag. When UAV 100 is in the deployed positionafter passage through apogee 515 of trajectory 510, feedback electronicsresolve the position of rotor arms 120, 125, 130 and 135 and the rotorsdisposed on the rotor arms generate lift. However, it will beappreciated that in embodiments where spring biasing means are employedto effect snap-action release of the rotor arms 120, 125, 130 and 135,feedback electronics to resolve the position of the rotor arms may notbe required as starting the rotors and releasing the rotor arms mayoccur simultaneously due to the speed of the action. As can beappreciated UAV 100 may now depart from substantially parabolicballistic trajectory 510 before reaching point 520, for example.

In one or more embodiments, an IMU and a microcontroller, configured toestimate UAV 100 trajectory 510 (e.g., based on altitude, velocity andGPS) may be employed to determine when UAV 100 is approaching apogee 515at t₁ and when UAV 100 has passed through apogee 515 at t₂, for example,by known methods. The IMU and microcontroller may be further configuredto provide a signal to a microelectronic actuator used to urge wingassembly 110 towards the deployed position, as discussed with referenceto FIG. 2. When UAV 100 is in the deployed position, as above, feedbackelectronics may resolve the position of rotor arms 120, 125, 130 and 135and the rotors disposed on the rotor arms may receive a signal from themicrocontroller to rotate and generate lift. As can be appreciated, UAV100 may now also depart from substantially parabolic ballistictrajectory 510 before reaching point 520, for example. In anotherembodiment, the deployment of rotor arms 120, 125, 130 and 135 may bedetermined by a timer delay or peak altitude.

After departing from substantially parabolic trajectory 510, the IMUprovides acceleration data and/or angular velocity data of UAV 100 tosupport stable flight by known methods, as discussed with reference toFIG. 2. By using a GPS coordinate or a ground station 570 capable ofreceiving data from an optical sensor included in UAV 100, operative 565may steer UAV 100 autonomously or by manual input by the ground station570 to target area 535.

The ground station 570 includes a processor for executing management ofUAV 100 and memory coring flight scenarios, as well as a dual pathcommunications module for executing flight scenarios to UAV 100.

In target area 535 operative 565 can validate the target 530 as an enemytarget, for example, and/or select the best engagement method for thattarget. Here, operative 565 has opted to inflict personnel casualties byselecting an air burst effect 525, via an electronic fusing system,resulting in blast and fragmentation of the projectile casing 105, asdiscussed with reference to FIG. 3. The fusing system accepts engagementcommands from the operative via ground station 570. Further, to ensuresafe operation and reduction of harm to the operative, the fuseincorporates a redundant microcontroller or other circuitry forcontinuously monitoring the position, independently those used tosupport stable flight, so as to prevent mishaps.

In one or more embodiments, after departing from substantially parabolictrajectory 510, the rotors disposed on the rotor arms may receive asignal from the microcontroller, or via manual input by the groundstation 570, to reverse the rotation direction of the rotors. Being ableto reverse each rotor individually gives the UAV 100 the ability to flyinverted, for specialised manoeuvres, or to flip over should it landupside down. Having the ability to fly inverted also provides anengagement method whereby the UAV 100 may be accelerated downwardstowards the target. As can be appreciated, the acceleration of the UAV100 is directly proportional to the force that will ultimately act onthe target. To maximise the acceleration, the rotors may be drivenbeyond their maximum operating limits for a permissible period ofoperation before destruction by overheating of windings, for example, orother damage associated with the blast and fragmentation of theprojectile casing 105, as discussed with reference to FIG. 3.

In another embodiment, the UAV 100 comprises at least one self-destructmeans to render inoperative the microcontroller and other circuitry,particularly in embodiments without an explosive payload. Theself-destruct may be caused via known means such as the use of a highelectrical current passed through the microcontroller and othercircuitry applied via a supercapacitor, or sudden battery dischargethrough it. The self-destruct may be remotely initiated by the operative565 via ground station 570.

Referring now to FIG. 6, there is shown a flight scenario of a targetguidance system of four UAVs 625 and one UAV 620, flying inverted, asdiscussed with reference to FIG. 5. Each of the five UAVs 625 and 620has been launched by an operative 635 along different substantiallyparabolic trajectories 610 towards a target 605. The target 605 is anarmoured truck, taking cover behind an intervening structure 650 in ageneral target area 600. General target area 600 may be considered aneffective kill zone radius, or simply a monitored area. The targetguidance system includes a ground station 630 for executing flightscenarios on the UAVs, which may be set to guide the UAVs to the generaltarget area 600. Each UAV has departed from substantially parabolictrajectories 610 and has entered an autonomous phase of flight toexecute the flight scenarios 612. In one embodiment, the UAVs mayexecute the flight scenario without ongoing control from the operative635, and this may involve having the UAV loiter or hold its position fora predetermined period of time, or until otherwise instructed by theoperative 635 via manual input on ground station 630. For example, theoperative 635 may identify a loitering UAV in the group and instruct itto fly inverted towards the target as is shown with reference to UAV620. Alternatively, the operative 635 may instruct a UAV to return home(RTH), self-destruct, or the like.

When two or more UAVs have been deployed, control circuitry, which mayemploy a microcontroller or other circuitry (e.g., swarming and/orflocking logic) for continuously monitoring the position of each UAV mayalso communicate information via the communications module between eachUAV, as discussed with reference to FIG. 3. The communicated informationmay include spatial and temporal information (e.g., GPS and altitudedata) such that each UAV is aware of each other UAV in space and time.As will be appreciated, this may include communicating with a nearby UAVto determine which one moves or whether both should move to avoid acollision via a mesh network, or the like. Each UAV may include a uniqueidentifier.

In some applications, such as engaging with an armoured vehicle asdescribed, it is desirable or useful to use two or more UAVs controlledin an organised manner. For example, numerous UAVs may be used toprovide surveillance of the general target area 600 or to identify softspots in armour of the target 605 such as windows. Operatives may alsoguide numerous UAVs with explosive payloads to targets incrementally ina synchronised or choreographed manner. In such applications, swarmingmay be used to control the UAVs as they fly over the general target area600 and approach the target 605. In this context, a swarm may be thoughtof as a self-organising network of UAVs in which each UAV is aware ofeach other's movements such that they aggregate together or move enmasse towards the target.

In one or more embodiments, swarming is used to overwhelm or saturatethe defences of the target 605. Here, each of the five UAVs 625 and 620autonomously attack the target 605 from the front and the rear of thetarget 605 with airbursts 615 (e.g. two simultaneous airburst effects).However, it will be appreciated by those skilled in the art that otherengagement routines are possible, including surrounding the target, evenas the target remains mobile.

The network of UAVs can also be used as a communication interface asillustrated by air interface 640. Available radio resources, for examplebandwidth, may be limited in the battlefield, and it may be necessaryfor the UAVs to behave as repeaters. In this case, operative 635 mayinstruct a UAV to perch on an intervening structure 650, which hascaused an information-bearing signal to degrade. The perched UAV mayincrease the power of signals and retransmit them allowing them totravel further or, in this case over obstructions. Examples of suchcommunications include surveillance information and UAV monitoringinformation. In this way, long-range communications can be realisedwithout having to build large direct communications systems and withouthaving to rely on expensive satellite bandwidth.

In another embodiment, the UAV, for instance, during reconnaissance, mayidentify an access point into a vehicle. Nonlethal offensive approachesmay be activated by applying a shock to enemy targets or byadministering an incapacitating agent or tranquilizing gas. It will beappreciated by those skilled in the art that swarms may also be used inthis nonlethal context by continuously administering an incapacitatingagent through the window in a choreographed manner, whereby upondepletion of one UAV another UAV fills its place. A similar approach maybe used to provide a smoke cover.

Further offensive swarm functions may include clearing improvisedexplosive devices or mines, administering electric or acoustic shock,administering clouds of fine graphite or the like over electricalcomponents to disrupt power, and providing electromagnetic pulse (EMP)shockwaves. Such swarm functions are advantaged as operatives have theability to stop the offensive functions, unlike traditional guidedmunitions or grenades which operate continuously. This feature allows anoperative to change direction and take time to engage with targetsparticularly dynamic targets, including other UAVs. Moreover, theconstant changes in the modern battlefield, particularly whereoperatives are working in close confines with civilians, civiliantargets and friendly personnel, providing a continuously adaptationprovides an ideal weapons system.

While in the above example five UAVs have been used to engage withtarget 605, it will be appreciated by those skilled in the art that theswarm may comprise a large group of tens or hundreds of UAVs that arelaunched from various locations, including aircraft, into a battlefield.The swarm may encounter various targets, with the swarm dividing intonumerous smaller groups of UAVs for specific attacks. The groups mayregroup to further engage with other targets or lay dormant in thebattlefield where they may be reactivated, remotely detonated, orremotely initiated to self-destruct. In this scenario, UAVs can be usedas defensive mines to protect mobile personnel and then strike enemytargets as they enter a specific area. This approach of selectivelyengaging with targets sustains the moral responsibility necessary by nottargeting civilians, civilian targets and friendly personnel.

For the purposes of description herein, the terms “side”, “top”,“bottom”, “upside down”, “inverted” and derivatives thereof shall berelated to the UAV of FIG. 1.

The term “projectile”, as used herein, refers to any object projectedthrough a medium (e.g., air). The projection force can be delivered by amechanism (e.g., a grenade launcher) or can be delivered by a humanoperative (e.g., by throwing it).

Where the terms “comprise”, “comprises”, “comprised” or “comprising” areused in this specification (including the claims) they are to beinterpreted as specifying the presence of the stated features, integers,steps or components, but not precluding the presence of one or moreother features, integers, steps or components, or group thereof.

While the invention has been described in conjunction with a limitednumber of embodiments, it will be appreciated by those skilled in theart that many alternative, modifications and variations in light of theforegoing description are possible. Accordingly, the present inventionis intended to embrace all such alternative, modifications andvariations as may fall within the spirit and scope of the invention asdisclosed.

The present application may be used as a basis or priority in respect ofone or more future applications and the claims of any such futureapplication may be directed to any one feature or combination offeatures that are described in the present application. Any such futureapplication may include one or more of the following claims, which aregiven by way of example and are non-limiting in regard to what may beclaimed in any future application.

1. An unmanned aerial vehicle (UAV) configured for transit in anddeployment from a projectile casing, comprising: a wing assembly, thewing assembly being coupled to the projectile casing and being moveablebetween a closed position and a deployed position; and a propulsionsystem comprising at least one rotor, disposed on the wing assembly, togenerate lift, wherein in the closed position, the wing assembly issubstantially integral with the projectile casing and in the deployedposition, the wing assembly is extended outwards from the projectilecasing.
 2. The UAV of claim 1, wherein the wing assembly in the closedposition is substantially integral with the projectile casing to effectaerodynamic flight when the projectile casing is projected into anairborne trajectory.
 3. The UAV of claim 1, wherein an outer surface ofthe wing assembly forms part of the projectile casing outer surface inthe closed position.
 4. The UAV of claim 1, further comprising a hingeconfigured to couple the wing assembly to the projectile casing.
 5. TheUAV of claim 4, wherein the hinge is further configured to pivot aboutan axis transverse to the movement of the wing assembly between theclosed position and the deployed position.
 6. The UAV of claim 1,wherein the wing assembly further comprises a spring return configuredto bias the wing assembly towards the closed position.
 7. The UAV ofclaim 1, wherein the wing assembly is configured for coupling to theprojectile casing so as to maintain a portion of the wing assembly intension when accelerating along the airborne trajectory.
 8. The UAV ofclaim 1, further comprising an actuator mechanically connected betweenthe projectile casing and a portion of the wing assembly used to extendthe wing assembly towards the deployed position.
 9. The UAV of claim 1,wherein the wing assembly is biased towards the closed position bygravity.
 10. The UAV of claim 9, wherein the wing assembly is configuredto extend to the deployed position after passage through the apogee ofthe airborne trajectory.
 11. The UAV of claim 1, further comprising: aninertial measurement unit (IMU); and a controller, configured to:estimate the airborne trajectory; and provide signals to an actuatorallowing for movement between the closed position and the deployedposition after passage through the apogee of the airborne trajectory.12. The UAV of claim 1, wherein the wing assembly comprises one or morearms.
 13. The UAV of claim 12, wherein the one or more arms of the wingassembly further comprises a propulsion system comprising at least onerotor disposed to generate lift.
 14. The UAV of claim 13, wherein therotor comprises a plurality of blades mounted to pivot outwardly undercentrifugal force as the rotor rotates.
 15. The UAV of claim 12, whereinthe propulsion system comprises a plurality of individually controllablerotors and, by adjustment of angular velocities of each of the pluralityof individually controllable rotors, provide adjustment of lift andtorque to support stable flight of the UAV.
 16. The UAV of claim 1,wherein the projectile casing is substantially hollow and has aninterior void configured to accommodate a payload.
 17. The UAV of claim16, wherein the payload includes at least one of an explosive, anincendiary, a smoke charge, an incapacitating agent and an illuminationcomposition.
 18. The UAV of claim 1, wherein the projectile casingfurther comprises a cartridge removably coupled to the projectilecasing.
 19. The UAV of claim 18, wherein the cartridge is hollow and hasan interior configured to accommodate a propelling charge.
 20. The UAVof claim 1, wherein the projectile casing is of generally right circularcylindrical shape.
 21. The UAV of claim 1, wherein the projectile casingdiameter is approximately 40-mm.
 22. A method of launching an unmannedaerial vehicle (UAV) adapted for transit in and deployment from aprojectile casing, comprising: providing the UAV in a launch tube, theUAV comprising a wing assembly, the wing assembly being coupled to theprojectile casing and being moveable between a closed position and adeployed position, and a propulsion system comprising at least one rotordisposed on the wing assembly to generate lift, wherein in the closedposition, the wing assembly is substantially integral with theprojectile casing and in the deployed position, the wing assembly isextended outwards from the projectile casing. applying pressurized gasesto a back end of the UAV and driving the UAV forward in the launch tubeinto a substantially parabolic trajectory; and transitioning the UAV toan autonomous loiter phase of flight after the UAV passes through theapogee of the substantially parabolic trajectory.
 23. A method accordingto claim 22, wherein after transitioning, the UAV departs from thesubstantially parabolic trajectory.
 24. A method according to claim 22,further comprising guiding the UAV to a target.
 25. A method accordingto claim 22, wherein the launch tube comprises a 40-mm grenade launcher.26. A target guidance system comprising a lunch tube, two or moreunmanned aerial vehicles (UAVs) each adapted for transit in anddeployment from a projectile casing, and a controller configured tocommunicate between two or more UAVs.
 27. A system according to claim26, wherein the controller is configured to relay spatial and temporaldata between the two or more UAVs.
 28. A system according to claim 26,wherein the two or more UAVs are configured with a swarming featurewhich aggregates the two or more UAVs together autonomously or by manualinput from an operator by a ground station to a target.
 29. A systemaccording to claim 26, wherein the two or more UAVs are furtherconfigured to steer in a space over a target in a cooperative swarm.